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다양한 관절 구성을 위한 모듈라 매니퓰레이터의 관절 및 링크 모듈 형상 도출

Title
다양한 관절 구성을 위한 모듈라 매니퓰레이터의 관절 및 링크 모듈 형상 도출
Other Titles
Joint and Link Module Geometric Shapes of Modular Manipulator for Various Joint Configurations
Author
이형철
Keywords
Modular manipulator; Revolute joint; Joint configuration; Joint module; Link module; Connection mechanism
Issue Date
2016-08
Publisher
한국로봇학회
Citation
로봇학회 논문지, v. 11, NO 3, Page. 163-171
Abstract
A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.
URI
http://www.jkros.org/journal/article.php?code=44280https://repository.hanyang.ac.kr/handle/20.500.11754/101164
ISSN
1975-6291; 2287-3961
DOI
10.7746/jkros.2016.11.3.163
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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